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Stock-based Compensation - Summary of Option Activity Changes in Shares Available for Grant under the 2020 Plan (Details)
3 Months Ended
Mar. 31, 2023
shares
Share-Based Payment Arrangement [Abstract]  
Available for Grant, Beginning Balance 4,253,854
2020 Plan reserve increase on January 1, 2023 1,893,869
Options and restricted stock units granted (2,833,995)
Options and restricted stock units forfeited, cancelled, or expired 89,164
Available for Grant, Ending Balance 3,402,892